Design and Experimental Verification of Hip Exoskeleton With Balance Capacities for Walking Assistance

• Published in: IEEE/ASME transactions on mechatronics Vol. 23; no. 1; pp. 274 - 285
• Main Authors: Zhang, Ting, Tran, Minh, Huang, He
• Format: Journal Article
• Language: English
• Published: IEEE 01.02.2018
• Subjects: Actuators; Balance control; exoskeleton; Exoskeletons; Hip; hip exoskeleton; Legged locomotion; Perturbation methods; series elastic actuator (SEA); Stability analysis; Torque; walking assistance

Most current hip exoskeletons emphasize assistance for walking rather than stability. The goal of this paper is to develop a novel, high-power, self-balancing, and passively and software-controlled actively compliant hip exoskeleton that can assist with movement and maintain balance in both the sagi...